The motor is used as a tachometer, which is good for odometry on modified RC cars.Good start-up torque in the sensorless mode (and obviously in the sensored mode as well).RPM-based phase advance (or timing/field weakening).Adaptive PWM frequency to get as good ADC measurements as possible.A GUI with lots of configuration parameters.Current and voltage measurement on all phases.
This is an overview of the schematic (download a complete PDF here): I really enjoy sharing knowledge, so I want to keep all the hardware and software open. This might sound a bit ambitions, but my goal is to make the best ESC available. I have made many updates to my custom motor controller recently and the old post is getting confusing with notes and updates, I decided to write a new post about it that hopefully is more clear, more complete and easier to follow.